WO2017219256A1 - 可爬壁的飞行清洁装置 - Google Patents

可爬壁的飞行清洁装置 Download PDF

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Publication number
WO2017219256A1
WO2017219256A1 PCT/CN2016/086625 CN2016086625W WO2017219256A1 WO 2017219256 A1 WO2017219256 A1 WO 2017219256A1 CN 2016086625 W CN2016086625 W CN 2016086625W WO 2017219256 A1 WO2017219256 A1 WO 2017219256A1
Authority
WO
WIPO (PCT)
Prior art keywords
suction cup
aircraft
wall
climbing
distance
Prior art date
Application number
PCT/CN2016/086625
Other languages
English (en)
French (fr)
Inventor
姜敏
张兰
马登坤
Original Assignee
深圳市博飞航空科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市博飞航空科技有限公司 filed Critical 深圳市博飞航空科技有限公司
Priority to PCT/CN2016/086625 priority Critical patent/WO2017219256A1/zh
Publication of WO2017219256A1 publication Critical patent/WO2017219256A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/294—Rotors arranged in the UAV body

Definitions

  • the present invention relates to the field of drones, and more particularly to a wall-cleanable flight cleaning device.
  • Multi-rotor UAVs are widely used in aerial photography, map mapping, reconnaissance and surveillance industries due to their simple structure, low cost, flexibility and flexibility. However, there are no products on the market that combine with cleaning robots. .
  • the technical problem to be solved by the present invention is to provide a flight cleaning device capable of automatically stopping a curtain wall in view of the above problem that the cleaning robot requires high working conditions.
  • the technical solution to solve the above technical problem is to provide a wall-climbing flight cleaning device, including an aircraft host, the cleaning device further comprising a wall climbing assembly, a start-stop assembly, a cleaning assembly, and a control module, and
  • the wall climbing assembly and the cleaning assembly are respectively installed at the bottom of the aircraft main body, the start and stop assembly is installed at the front side of the aircraft main body;
  • the wall climbing assembly includes a first suction cup;
  • the start and stop assembly includes a second suction cup, a movable joint, and the second suction cup is mounted to the front end of the aircraft host through the movable joint;
  • the control module includes a docking control unit and a flyaway control unit; the docking control unit is docked to the vertical plane at the aircraft host, firstly controlled
  • the second suction cup is attracted to the vertical surface and is made to fly after the adsorption is completed.
  • the rowing machine rotates around the movable joint until the first suction cup is attracted to the vertical surface, and the second suction cup is disengaged from the vertical surface;
  • the flying away control unit moves the main body of the aircraft away from the vertical plane, first controlling the second suction cup to be adsorbed to the vertical surface, And after the adsorption is completed, the first suction cup is separated from the vertical surface, and the second suction cup is separated from the vertical surface after the flying body rotates to the horizontal plane around the movable joint.
  • the aircraft host is further provided with a distance sensor
  • the control module further includes a distance calculation unit
  • the distance calculation unit is configured to be used according to the distance sensor.
  • the feedback data calculates the distance between the aircraft host and the vertical plane, and the docking control unit is activated when the distance between the front side of the aircraft host and the vertical plane is less than or equal to the first distance.
  • the aircraft main body is provided with at least two distance sensors
  • the control module includes a deflection angle calculation unit and an approach control unit, wherein: a deflection angle calculation unit, configured to calculate an angle between the main body of the aircraft and the vertical plane according to the distance information output by the two distance sensors, wherein the distance between the front side of the aircraft main body and the vertical plane is less than the second distance ;; the parking control unit, It is used to adjust the heading angle of the aircraft main engine and control the aircraft main body to fly to the vertical plane perpendicular to the vertical plane of the aircraft until the front side of the aircraft main engine is less than or equal to the first distance.
  • the wall climbing assembly includes at least two first suction cups and a running mechanism for driving the aircraft main body to travel; the at least two first suction cups The traveling mechanism is arranged in the forward direction.
  • the wall climbing assembly further includes an air pressure sensor for detecting a pressure in the first suction cup;
  • the control module includes a gas leakage detecting unit and a gap determination unit.
  • the cross-slit control unit the air leakage detecting unit is configured to determine whether the first suction cup on the front side leaks according to the feedback signal of the air pressure sensor during the walking of the aircraft main body in the vertical direction;
  • the gap judgment a unit configured to calculate a leak distance of the first suction cup on the front side of the first suction cup on the front side, and confirm that the gap is too large when the air leakage distance exceeds the third distance;
  • the cross seam control unit for controlling the walking mechanism to rotate forward by a predetermined angle after the gap is too large.
  • each of the first suction cup and the second suction cup is respectively provided with a deflation valve and a pressure sensor, and the parking control unit and the flying control unit are deflated
  • the valve causes the corresponding first suction cup or the second suction cup to be separated from the vertical surface, and determines whether the corresponding first suction cup or the second suction cup is adsorbed according to the pressure sensor feedback signal.
  • the wall climbing assembly further includes a suction cup bracket and the suction cup bracket is assembled to the bottom of the aircraft main body by a folding mechanism, and the first suction cup is mounted to the suction cup bracket
  • the docking control unit controls the folding mechanism to smash the suction cup bracket to adsorb the first suction cup to the vertical surface, and causes the folding mechanism to fold the aircraft main body after the first suction cup is sucked.
  • the suction cup bracket; after the second suction cup is adsorbed to the vertical surface, the flying unit is turned to the horizontal position by the folding mechanism to fold the suction cup bracket to the bottom of the aircraft main body.
  • the traveling mechanism includes two crawler belts symmetrically disposed on the suction cup bracket and respectively located on two sides of the first suction cup, and each crawler passes the crawler motor
  • the drive advances independently or backwards.
  • the cleaning assembly includes a roller, a roller brush, a scraper, and a rag
  • the roller is internally provided with a cavity for accommodating the cleaning liquid.
  • the outer surface of the roller is provided with a plurality of water-permeable holes communicating with the inner cavity; the roller brush, the scraper and the rag are sequentially disposed on the rear side of the roller.
  • a buffer mechanism is disposed between the second suction cup and the movable joint, and the buffer mechanism includes a buffer rod and a buffer sleeved on the buffer rod. a spring, the buffer rod is fixedly connected to the second suction cup at one end and the movable joint is inserted at the other end, and the buffer spring abuts between the movable joint and the second suction cup.
  • the wall-climbing flight cleaning device of the present invention by combining the UAV with the cleaning robot, can send the cleaning robot to a predetermined position for cleaning operation by the UAV, thereby replacing the spider man's curtain wall cleaning work, saving Cleaning costs.
  • FIG. 1 is a schematic view of an embodiment of a flyable wall cleaning device of the present invention.
  • FIG. 2 is a schematic view showing the structure of the wall-climbing flying cleaning device of the present invention docked to the curtain wall.
  • FIG. 3 is a schematic view of the bottom of the wall-cleanable flight cleaning device of the present invention.
  • FIG. 4 is a schematic view of a wall climbing assembly at the bottom of a wall-sustainable flight cleaning device of the present invention.
  • FIGS. 1-4 is a schematic view of an embodiment of a flyable wall cleaning device of the present invention
  • the flight cleaning device can fly to a predetermined position and crawl on a vertical surface (eg, a curtain wall of a building, etc.) For surface cleaning.
  • the wall-climbing flight cleaning device in this embodiment comprises an aircraft main body, a wall climbing assembly, a start-stop assembly, a cleaning assembly and a control module, wherein the wall-climbing assembly and the cleaning assembly are respectively installed at the bottom of the aircraft host, and the start-stop assembly is installed It is located on the front side of the aircraft host.
  • the aircraft host may adopt a similar structure to the existing unmanned aerial vehicle, for example, including a fuselage 11 and four rotors 12 evenly distributed on the fuselage 11, the control module being located in the aircraft host and receiving control signals from the remote controller. And control the aircraft host to fly to a predetermined location.
  • the wall climbing assembly in this embodiment includes a first suction cup 32 through which the entire aircraft main body can be attached to a vertical surface 80 (e.g., a glass curtain wall, etc.).
  • the above-mentioned wall climbing assembly can be attached to the vertical surface of the first suction cup 32, and the air in the first suction cup 32 can be sucked away by the vacuum pump, so that the first suction cup 32 can be closely attached to the vertical surface 80.
  • the wall climbing assembly can also squeeze air through the first suction cup 32, thereby absorbing the first suction cup 32 to the vertical surface 80.
  • the start-stop assembly includes a second suction cup 21, a movable joint, and the second suction cup 21 is attached to the front end of the body 11 through a movable joint.
  • the second suction cup 21 can be folded to the bottom surface of the fuselage 11, thereby making the structure of the entire apparatus more compact.
  • the start-stop assembly can be attached to the vertical surface of the second suction cup 21, and the air in the second suction cup 21 can be sucked away by the vacuum pump, so that the second suction cup 21 can be tightly adsorbed on the vertical surface 80.
  • the start-stop assembly can also extrude air by applying pressure to the second suction cup 21, so that the second suction cup 21 is attracted to the vertical surface.
  • control module In addition to receiving the control command from the remote controller and controlling the flight of the aircraft host, the control module further includes a docking control unit and a flyaway control unit, and the docking control unit and the flyaway control unit may be combined with software integrated into the control module hardware.
  • the above control module can be used for manual flight and autonomous flight (in the case of good GPS signal, the flight route is planned in advance by remote control or ground station, and the control module is scheduled to fly.
  • Route Control Aircraft Host Flight Two modes control the aircraft host to fly to a predetermined location.
  • the docking control unit controls the aircraft host, the wall climbing assembly, and the start-stop assembly to cause the aircraft host in flight to be docked to a vertical plane. Specifically, when the aircraft host needs to be docked to the vertical plane, the docking control unit first controls the second suction cup 21 to be attracted to the vertical surface (for example, controlling the movable joint, causing the second suction cup 21 to touch the vertical surface, and then sucking the second through the vacuum pump The air between the suction cup 21 and the vertical surface), after the adsorption of the second suction cup 21 is completed, causes the aircraft main body to rotate around the movable joint until the first suction cup 32 is attracted to the vertical surface, and finally the second suction cup 21 is separated from the vertical surface.
  • the flyaway control unit is configured to control the aircraft main body, the wall climbing component, and the start and stop component to move, and the aircraft host docked in the vertical plane is separated from the vertical plane and starts to fly. Specifically, in the aircraft host needs to be away from the vertical plane (for example, receiving the fly-by command of the remote controller), the fly-away control unit first controls the second suction cup 21 to be attracted to the vertical surface (for example, controlling the movable joint to make the second suction cup 21 touch When the vertical surface is touched, the air between the second suction cup 21 and the vertical surface is sucked by the vacuum pump, and after the second suction cup 21 is sucked, the first suction cup 32 is disengaged from the vertical surface, and the flying body is rotated around the movable joint to The second suction cup 21 is released from the vertical plane after the horizontal plane.
  • the above-mentioned wall-climbing flight cleaning device transports the cleaning assembly to a predetermined position through the aircraft main body, and carries the cleaning assembly through the wall-climbing assembly to perform the cleaning operation, thereby replacing the spider body for the curtain wall cleaning work, thereby saving the cleaning cost.
  • the aircraft host is further provided with a distance sensor 51, and the control module further includes a distance calculation unit.
  • the distance calculation unit is configured to calculate the distance between the aircraft host and the vertical plane 80 according to the feedback data of the distance sensor 51.
  • the distance between the docking control unit and the vertical plane 80 on the front side of the aircraft host is less than or equal to the first distance (can be set as needed) ⁇ Start up.
  • the entire docking process is done by the control module itself, without the need for manual operation.
  • the control module includes a deflection angle calculation unit and an approach control unit, wherein the deflection angle calculation unit
  • the distance between the front side of the aircraft main body and the vertical plane is less than the second distance (can be set as needed), and the angle between the aircraft main body and the vertical plane 80 is calculated according to the distance information output by the two distance sensors 51; Adjusting the heading angle of the aircraft main engine and controlling the aircraft main engine to fly to the vertical plane when the aircraft main body is perpendicular to the vertical plane 80 until the front side of the aircraft main engine is smaller or equal At the first distance.
  • the above-mentioned wall climbing assembly is used to drive the aircraft host to move on the vertical plane 80, and the path of the movement can be set in advance through the remote controller or the bottom station.
  • the wall climbing assembly includes at least two first suction cups 32 (three in the embodiment of FIGS. 3 and 4) and a running mechanism for driving the aircraft main body to travel in a vertical plane; the first suction cup 32 is sequentially followed by the traveling mechanism arrangement.
  • the traveling mechanism drives the aircraft main body to crawl on the vertical plane, the first suction cup 32 is always in the adsorption state (unless there is a gap due to the vertical surface or other reasons cannot be adsorbed), that is, the first suction cup 32 moves in the vertical plane with the main body of the aircraft. Drag up to ensure that the aircraft host does not fall.
  • the wall climbing assembly may further include an air pressure sensor for detecting the pressure in the first suction cup 32, and accordingly, the control module includes a gas leakage detecting unit, a slit determination unit, and a cross seam control unit.
  • the air leakage detecting unit is configured to determine whether the first suction cup 32 on the front side leaks according to the feedback signal of the air pressure sensor during the walking of the aircraft main body in the predetermined direction on the vertical plane 80; the gap judging unit is used on the front side
  • the air leakage ⁇ of the first suction cup 32 calculates the air leakage distance of the first suction cup 32 on the front side (ie, the distance moved by the aircraft main body after air leakage), and the air leakage distance exceeds the third distance (can be set as needed) Too large (for example, the aircraft main unit has moved to the edge of the vertical plane); the cross-slit control unit is used to continue the advancement after the running mechanism is rotated by a predetermined angle after the gap is too large.
  • the wall climbing assembly can drive the
  • a spacing of 4 cm to 6 cm is provided between two adjacent first suction cups 32, typically a pitch of 5 cm.
  • Each of the first suction cups 32 is connected to a separate vacuum pump, and the suction and discharge gas are separately controlled.
  • the three first suction cups 32 cooperate with each other, and can independently span the glass gap within 5 cm without manual intervention.
  • the predetermined path of the above-mentioned wall climbing assembly may be a horizontal direction, such that when the gap determining unit confirms that the aircraft main body moves to the edge ⁇ of the vertical surface 80, the cross-slit control unit controls the traveling mechanism to rotate the aircraft main body by 90°. Move forward a certain distance (for example, move forward to the same distance as the width of the aircraft mainframe), and turn it 90° again and then move forward until it reaches the other edge of the vertical plane, so reciprocating, forming a "bow" shaped path.
  • the traveling mechanism of the above-mentioned wall climbing assembly may include two crawler belts 33 (the two crawler belts 33 may be disposed in parallel and respectively located on both sides of the first suction cup 32), and the two crawler belts 33 are respectively composed of two crawler motors Drive forward. It is necessary to turn the ⁇ during the wall climbing process, which can be achieved by making the speeds of the two track motors different, for example, turning left. In this case, the crawler belt on the left side of the first suction cup 33 can be stopped or retracted, and the right crawler belt can be advanced.
  • Each of the first suction cup 32 and the second suction cup 21 is respectively provided with a deflation valve and a pressure sensor, so that the parking control unit and the flying control unit can make the corresponding first suction cup 32 or second suction cup 21 through the deflation valve.
  • the vertical surface is separated, and the corresponding first suction cup 32 or the second suction cup 21 is determined to be adsorbed based on the air pressure sensor feedback signal.
  • the above-described wall climbing assembly further includes a suction cup holder 31 which is fitted to the bottom of the aircraft main body by a folding mechanism, and the first suction cup 32 and the crawler belt 33 are both mounted to the suction cup holder 31.
  • the docking control unit controls the folding mechanism to smash the suction cup holder 31 to adsorb the first suction cup 32 to the vertical surface 80, and causes the folding mechanism to move the aircraft after the first suction cup 32 is sucked.
  • the main unit is folded to the suction cup bracket 31; after the second suction cup 21 is attracted to the vertical surface 80, the flying control unit is turned to the horizontal position by the folding mechanism to fold the suction cup holder 31 to the bottom of the aircraft main body.
  • the cleaning assembly is adapted to move the passing vertical surface 80 on the vertical surface 80 of the aircraft mainframe.
  • the cleaning assembly may include a roller, a roller brush 41, a scraper 43 and a rag 42, wherein the roller is internally provided with an inner cavity for accommodating the cleaning liquid, and the outer surface of the roller is provided with a plurality of inner cavities Connected water seepage holes; the roller brush 41, the wiper strip 43 and the rag 42 are sequentially disposed on the rear side of the roller.
  • the outer surface of the roller is wrapped with a layer of sponge to form a roller brush 41.
  • the roller can be driven by a crawler motor of the traveling mechanism (a speed increasing gear set can be provided between the roller and the crawler motor).
  • the roller permeates the cleaning liquid pre-filled into the inner cavity through the water-permeable hole to the vertical surface 80 (for example, a glass curtain wall), and the penetration speed of the cleaning liquid can be controlled by adjusting the pore size of the water-permeable hole, thereby ensuring the package.
  • the sponge on the outer surface of the roller is always wet.
  • the crawler motor drives the roller to roll, evenly applies the cleaning liquid to the glass surface, and simultaneously drives the high-speed rotation to scrub the stubborn stain on the vertical through the crawler motor.
  • the wiper strip 43 is disposed on the rear side of the roller brush 41 for scraping the stain on the vertical surface 80 to reduce the cleaning burden of the rag 42.
  • the rag 42 is disposed on the rear side of the wiper strip 43 and the last side of the vertical plane 80 is provided. Clean up. Through the three cleanings of the roller brush 41, the wiper strip 43 and the rag 42, the vertical surface can be cleaned to achieve a satisfactory cleaning effect.
  • a scraper can be disposed around the suction cup holder 31 to block the cleaning liquid outside the wall climbing assembly, preventing the external cleaning liquid from entering the walking track 33 and the first suction cup 32, avoiding the sliding of the walking track 33 and the first suction cup. 32 failed.
  • the cleaning assembly further includes a waste water recovery hole 44 disposed at the bottom of the aircraft body to The cleaning solution after cleaning is recovered to prevent dripping.
  • a buffer mechanism may be disposed between the second suction cup 21 and the movable joint, the buffer mechanism includes a buffer rod and a buffer spring sleeved on the buffer rod, one end of the buffer rod.
  • the second suction cup 21 is fixedly coupled to the other end and is inserted into the movable joint, and the buffer spring abuts between the movable joint and the second suction cup 21.

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  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Nozzles For Electric Vacuum Cleaners (AREA)

Abstract

一种可爬壁的飞行清洁装置包括飞行器主机、爬壁组件、启停组件、清洁组件以及控制模块；爬壁组件包括第一吸盘（32）；启停组件包括第二吸盘（21）、活动关节；控制模块包括停靠控制单元和飞离控制单元；停靠控制单元首先控制第二吸盘（21）吸附到垂直面（80），并在吸附完成后使飞行器主机绕活动关节旋转直到第一吸盘（32）吸附到垂直面（80），以及使第二吸盘（21）脱离垂直面（80）；飞离控制单元首先控制第二吸盘（21）吸附到垂直面（80），并在吸附完成后使第一吸盘（32）脱离垂直面（80），以及在飞行主体绕活动关节旋转到水平面后使第二吸盘（21）脱离垂直面（80）。本装置通过将无人飞行器与清洁机器人结合，可实现垂直面上预定位置的清洁作业。

Description

可爬壁的飞行清洁装置 技术领域
[0001] 本发明涉及无人机领域， 更具体地说， 涉及一种可爬壁的飞行清洁装置。
背景技术
[0002] 建筑外墙清洁是一项高危险的户外作业， 一般使用绳索将人员吊在建筑外墙进 行清洁作业， 行业称之为蜘蛛人。 进行建筑外墙清洁的蜘蛛人是非常危险的工 作， 蜘蛛人在清洁作业过程中仅凭绳索吊在空中， 全球每年都有很多蜘蛛人在 建筑外墙清洁作业过程中因为失误或者大风大雨的恶劣天气出现伤亡。
[0003] 目前出现有使用爬墙清洁机器人代替蜘蛛人进行建筑外墙清洁工作， 大大减少 了蜘蛛人的伤亡现象。 但是由于爬墙清洁机器人对作业条件要求较高， 越障能 力不够， 无法到达所有的墙面进行清洁作业， 依然需要蜘蛛人进行清洁工作。
[0004] 多旋翼无人机以其结构简单、 成本低廉、 机动灵活等特点， 使得在航拍摄影、 地图测绘、 侦察监视等行业的应用日趋广泛， 但目前市场上尚未有与清洁机器 人结合的产品。
技术问题
[0005] 本发明要解决的技术问题在于， 针对上述清洁机器人对作业条件要求高的问题 ， 提供一种可自动停靠幕墙的飞行清洁装置。
问题的解决方案
技术解决方案
[0006] 本发明解决上述技术问题的技术方案是， 提供一种可爬壁的飞行清洁装置， 包 括飞行器主机， 该清洁装置还包括爬壁组件、 启停组件、 清洁组件以及控制模 块， 且所述爬壁组件和清洁组件分别装设到飞行器主机的底部， 所述启停组件 装设在飞行器主机的前侧； 所述爬壁组件包括第一吸盘； 所述启停组件包括第 二吸盘、 活动关节， 且所述第二吸盘通过活动关节装设到飞行器主机的前端； 所述控制模块包括停靠控制单元和飞离控制单元； 所述停靠控制单元在飞行器 主机停靠到垂直面吋， 首先控制第二吸盘吸附到垂直面， 并在吸附完成后使飞 行器主机绕活动关节旋转直到第一吸盘吸附到垂直面， 以及使第二吸盘脱离垂 直面； 所述飞离控制单元在飞行器主机飞离垂直面吋， 首先控制第二吸盘吸附 到垂直面， 并在吸附完成后使第一吸盘脱离垂直面， 以及在飞行主体绕活动关 节旋转到水平面后使第二吸盘脱离垂直面。
[0007] 在本发明所述的可爬壁的飞行清洁装置中， 所述飞行器主机上还设有距离传感 器， 所述控制模块还包括距离计算单元， 所述距离计算单元用于根据距离传感 器的反馈数据计算飞行器主机与垂直面的距离， 所述停靠控制单元在飞行器主 机的前侧与垂直面的距离小于或等于第一距离吋启动。
[0008] 在本发明所述的可爬壁的飞行清洁装置中， 所述飞行器主机上设有至少两个距 离传感器， 且所述控制模块包括偏转角计算单元以及抵近控制单元， 其中： 所 述偏转角计算单元， 用于在飞行器主机的前侧与垂直面的距离小于第二距离吋 ， 根据两个距离传感器输出的距离信息计算飞行器主机与垂直面的夹角； 所述 停靠控制单元， 用于调整飞行器主机的航向角并在飞行器主机垂直于垂直面吋 控制飞行器主机飞向垂直面， 直到飞行器主机的前侧小于或等于第一距离。
[0009] 在本发明所述的可爬壁的飞行清洁装置中， 所述爬壁组件包括至少两个第一吸 盘以及用于驱动飞行器主机行走的行走机构； 所述至少两个第一吸盘沿行走机 构前进方向依次排列。
[0010] 在本发明所述的可爬壁的飞行清洁装置中， 所述爬壁组件还包括用于检测第一 吸盘内压力的气压传感器； 所述控制模块包括漏气检测单元、 缝隙判断单元以 及跨缝控制单元； 所述漏气检测单元用于在飞行器主机在垂直面沿预定方向行 走过程中， 实吋根据气压传感器的反馈信号判断前侧的第一吸盘是否漏气； 所 述缝隙判断单元， 用于在前侧的第一吸盘漏气吋计算该前侧的第一吸盘的漏气 距离， 并在所述漏气距离超过第三距离吋确认缝隙过大； 所述跨缝控制单元， 用于在缝隙过大吋， 控制所述行走机构转动预定角度后继续前进。
[0011] 在本发明所述的可爬壁的飞行清洁装置中， 每一所述第一吸盘和第二吸盘分别 设置有泄气阀和气压传感器， 所述停靠控制单元和飞离控制单元通过泄气阀使 对应的第一吸盘或第二吸盘脱离垂直面， 并根据气压传感器反馈信号判断对应 的第一吸盘或第二吸盘是否吸附完成。 [0012] 在本发明所述的可爬壁的飞行清洁装置中， 所述爬壁组件还包括吸盘支架且该 吸盘支架通过折叠机构装配到飞行器主机的底部， 所述第一吸盘安装到吸盘支 架， 所述停靠控制单元在第二吸盘吸附到垂直面后， 控制折叠机构将吸盘支架 打幵以使第一吸盘吸附到垂直面， 并在第一吸盘吸附完成后使折叠机构将飞行 器主机折叠到吸盘支架； 所述飞离控制单元在第二吸盘吸附到垂直面后， 通过 折叠机构使飞行器主机转到水平后使吸盘支架折叠到飞行器主机底部。
[0013] 在本发明所述的可爬壁的飞行清洁装置中， 所述行走机构包括对称设置在所述 吸盘支架上并分别位于第一吸盘两侧的两条履带， 每条履带通过履带电机驱动 独立前进或者后退。
[0014] 在本发明所述的可爬壁的飞行清洁装置中， 所述清洁组件包括滚轴、 滚刷、 刮 条以及抹布， 所述滚轴内部设有用于容置清洗液的内腔， 并且所述滚轴的外表 面设有多个与所述内腔连通的渗水孔； 所述滚刷、 刮条以及抹布依次设在所述 滚轴的后侧。
[0015] 在本发明所述的可爬壁的飞行清洁装置中， 所述第二吸盘与活动关节之间设有 缓冲机构， 所述缓冲机构包括缓冲杆和套设在该缓冲杆上的缓冲弹簧， 所述缓 冲杆一端固定连接在所述第二吸盘上、 另一端插接在活动关节上， 所述缓冲弹 簧抵接在所述活动关节与第二吸盘之间。
发明的有益效果
有益效果
[0016] 本发明的可爬壁的飞行清洁装置， 通过将无人飞行器与清洁机器人结合， 可通 过无人飞行器将清洁机器人送至预定位置进行清洁作业， 从而代替蜘蛛人进行 幕墙清洁工作， 节省了清洗成本。
对附图的简要说明
附图说明
[0017] 图 1是本发明可爬壁的飞行清洁装置实施例的示意图。
[0018] 图 2是本发明可爬壁的飞行清洁装置停靠到幕墙的结构的示意图。
[0019] 图 3是本发明可爬壁的飞行清洁装置底部的示意图。
[0020] 图 4是本发明可爬壁的飞行清洁装置底部的爬壁组件的示意图。 本发明的实施方式
[0021] 为了使本发明的目的、 技术方案及优点更加清楚明白， 以下结合附图及实施例 ， 对本发明进行进一步详细说明。 应当理解， 此处所描述的具体实施例仅仅用 以解释本发明， 并不用于限定本发明。
[0022] 如图 1-4所示， 是本发明可爬壁的飞行清洁装置实施例的示意图， 该飞行清洁 装置可飞行到预定位置， 并在垂直面 （例如建筑物的幕墙等） 上爬行以进行表 面清洁。 本实施例中的可爬壁的飞行清洁装置包括飞行器主机、 爬壁组件、 启 停组件、 清洁组件以及控制模块， 其中爬壁组件和清洁组件分别装设到飞行器 主机的底部， 启停组件装设在飞行器主机的前侧。 飞行器主机可采用与现有的 无人飞行器类似的结构， 例如包括机身 11和均匀分布在机身 11上的四个旋翼 12 ， 控制模块位于飞行器主机内并可接收来自遥控器的控制信号， 并控制飞行器 主机飞行到预定位置。
[0023] 本实施例中的爬壁组件包括第一吸盘 32， 通过该第一吸盘 32， 整个飞行器主机 可贴附到垂直面 80 (例如玻璃幕墙等） 。 上述爬壁组件可在第一吸盘 32贴于垂 直面吋， 通过真空泵将第一吸盘 32内的空气吸走， 从而第一吸盘 32可紧紧地吸 附在垂直面 80。 当然， 爬壁组件也可通过向第一吸盘 32施加压力的方式挤出空 气， 从而使第一吸盘 32吸附到垂直面 80。
[0024] 启停组件包括第二吸盘 21、 活动关节， 且第二吸盘 21通过活动关节装设到机身 11的前端。 通过活动关节， 在飞行器主机处于飞行状态吋， 第二吸盘 21可折叠 到机身 11的底面， 从而使得整个装置的结构更加紧凑。 上述启停组件可在第二 吸盘 21贴于垂直面吋， 通过真空泵将第二吸盘 21内的空气吸走， 从而第二吸盘 2 1可紧紧地吸附在垂直面 80。 当然， 启停组件也可通过向第二吸盘 21施加压力的 方式挤出空气， 从而使第二吸盘 21吸附到垂直面。
[0025] 控制模块除了从遥控器接收控制指令并控制飞行器主机飞行外， 还包括停靠控 制单元和飞离控制单元， 上述停靠控制单元和飞离控制单元可结合集成到控制 模块硬件的软件构成。 上述控制模块可通过手动飞行和自主飞行 （在 GPS信号良 好的情况下， 通过遥控器或地面站提前规划飞行路线， 控制模块按规划的飞行 路线控制飞行器主机飞行） 两种模式控制飞行器主机飞行到预定位置。
[0026] 在飞行器主机飞行到预定位置后， 停靠控制单元控制飞行器主机、 爬壁组件和 启停组件动作， 使将处于飞行状态的飞行器主机停靠到垂直面。 具体地， 在飞 行器主机需停靠到垂直面吋， 停靠控制单元首先控制第二吸盘 21吸附到垂直面 (例如控制活动关节， 使第二吸盘 21触碰到垂直面， 然后通过真空泵吸走第二 吸盘 21与垂直面之间的空气） ， 并在第二吸盘 21吸附完成后使飞行器主机绕活 动关节旋转， 直到第一吸盘 32吸附到垂直面， 最后使第二吸盘 21脱离垂直面。
[0027] 飞离控制单元用于控制飞行器主机、 爬壁组件和启停组件动作， 将停靠在垂直 面的飞行器主机离幵垂直面并幵始飞行。 具体地， 在飞行器主机需离幵垂直面 (例如接收到遥控器的飞离指令） 吋， 飞离控制单元首先控制第二吸盘 21吸附 到垂直面 （例如控制活动关节， 使第二吸盘 21触碰到垂直面， 然后通过真空泵 吸走第二吸盘 21与垂直面之间的空气） ， 并在第二吸盘 21吸附完成后使第一吸 盘 32脱离垂直面， 并在飞行主体绕活动关节旋转到水平面后使第二吸盘 21脱离 垂直面。
[0028] 上述可爬壁的飞行清洁装置通过飞行器主机将清洁组件运送至预定位置， 并通 过爬壁组件携带清洁组件进行清洁作业， 从而可代替蜘蛛人进行幕墙清洁工作 ， 节省了清洗成本。
[0029] 飞行器主机上还设有距离传感器 51， 控制模块还包括距离计算单元。 上述距离 计算单元用于根据距离传感器 51的反馈数据计算飞行器主机与垂直面 80的距离 ， 停靠控制单元在飞行器主机的前侧与垂直面 80的距离小于或等于第一距离 （ 可根据需要设置） 吋启动。 整个停靠过程由控制模块自行完成， 而无需手动操 作。
[0030] 特别地， 为提高飞行器主机停靠到垂直面 80的安全性， 飞行器主机上设有至少 两个距离传感器 51， 且控制模块包括偏转角计算单元以及抵近控制单元， 其中 偏转角计算单元用于在飞行器主机的前侧与垂直面的距离小于第二距离 （可根 据需要设置） 吋， 根据两个距离传感器 51输出的距离信息计算飞行器主机与垂 直面 80的夹角； 停靠控制单元用于调整飞行器主机的航向角并在飞行器主机垂 直于垂直面 80吋控制飞行器主机飞向垂直面， 直到飞行器主机的前侧小于或等 于第一距离。
[0031] 上述爬壁组件用于驱动飞行器主机在垂直面 80上移动， 其移动的路径可提前通 过遥控器或底面站设定。 该爬壁组件包括至少两个第一吸盘 32 (图 3、 4的实施 例中为 3个） 以及用于驱动飞行器主机在垂直面行走的行走机构； 上述第一吸盘 32沿行走机构前进方向依次排列。 在行走机构驱动飞行器主机在垂直面上爬行 吋， 第一吸盘 32始终处于吸附状态 （除非因垂直面有缝隙或其他原因而无法吸 附） ， 即第一吸盘 32随着飞行器主机的行走在垂直面上拖动， 从而保证飞行器 主机不会掉落。
[0032] 爬壁组件还可包括用于检测第一吸盘 32内压力的气压传感器， 相应地， 控制模 块包括漏气检测单元、 缝隙判断单元以及跨缝控制单元。 漏气检测单元用于在 飞行器主机在垂直面 80上沿预定方向行走过程中， 实吋根据气压传感器的反馈 信号判断前侧的第一吸盘 32是否漏气； 缝隙判断单元用于在前侧的第一吸盘 32 漏气吋计算该前侧的第一吸盘 32的漏气距离 （即漏气后飞行器主机移动的距离 ) ， 并在漏气距离超过第三距离 （可根据需要设置） 吋确认缝隙过大 （例如飞 行器主机已经移动到垂直面的边缘） ； 跨缝控制单元用于在缝隙过大吋， 控制 行走机构转动预定角度后继续前进。 通过上述结构， 爬壁组件可带动飞行器主 机跨越缝隙， 并避免在垂直面边缘跌落。
[0033] 在一具体实施例中， 相邻两个第一吸盘 32之间设有 4cm-6cm的间距， 一般为 5c m的间距。 每一第一吸盘 32与独立的真空泵连接， 吸放气单独进行控制， 三个第 一吸盘 32配合动作， 可以自主跨越 5cm以内的玻璃缝隙， 无需人工干预。
[0034] 特别地， 上述爬壁组件的预定路径可以为水平方向， 这样， 当缝隙判断单元确 认飞行器主机移动到垂直面 80的边缘吋， 跨缝控制单元控制行走机构使飞行器 主机转动 90°后再向前移动一定距离 （例如前移与飞行器主机的宽度相等的距离 ) ， 并再次转动 90°后前移， 直到达到垂直面的另一边缘， 如此往复， 形成"弓" 字形的路径
[0035] 上述爬壁组件的行走机构可包括两条履带 33 (该两条履带 33可平行设置， 并分 别位于第一吸盘 32的两侧） ， 且该两条履带 33分别由两个履带电机驱动前进。 在爬壁过程中需要转动吋， 可通过使两个履带电机转速相异实现， 例如向左转 动吋， 可使第一吸盘 33左侧的履带停止或后退、 右侧履带前进。
[0036] 上述每一第一吸盘 32和第二吸盘 21分别设置有泄气阀和气压传感器， 这样， 停 靠控制单元和飞离控制单元可通过泄气阀使对应的第一吸盘 32或第二吸盘 21脱 离垂直面， 并根据气压传感器反馈信号判断对应的第一吸盘 32或第二吸盘 21是 否吸附完成。
[0037] 上述爬壁组件还包括吸盘支架 31且该吸盘支架 31通过折叠机构装配到飞行器主 机的底部， 第一吸盘 32和履带 33均安装到吸盘支架 31。 停靠控制单元在第二吸 盘 21吸附到垂直面 80后， 控制折叠机构将吸盘支架 31打幵以使第一吸盘 32吸附 到垂直面 80， 并在第一吸盘 32吸附完成后使折叠机构将飞行器主机折叠到吸盘 支架 31 ; 飞离控制单元在第二吸盘 21吸附到垂直面 80后， 通过折叠机构使飞行 器主机转到水平后使吸盘支架 31折叠到飞行器主机底部。
[0038] 清洁组件用于在飞行器主机在垂直面 80上移动吋， 对经过的垂直面 80进行清洁 。 具体地， 清洁组件可包括滚轴、 滚刷 41、 刮条 43以及抹布 42， 其中滚轴内部 设有用于容置清洗液的内腔， 并且该滚轴的外表面设有多个与内腔连通的渗水 孔； 滚刷 41、 刮条 43以及抹布 42依次设在滚轴的后侧。 滚轴的外表面包裹设置 有一层海绵， 形成滚刷 41。 具体地， 滚轴可由行走机构的履带电机驱动 （滚轴 与履带电机之间可设有增速齿轮组） 。
[0039] 滚轴将预先灌注在内腔中的清洁液通过渗水孔渗透涂抹到垂直面 80 (例如玻璃 幕墙） 上， 通过控制调整渗水孔的孔径大小可以控制清洁液的渗透速度， 从而 保证包裹在滚轴外表面的海绵始终处于湿润状态。 在飞行器主机移动吋， 履带 电机带动滚轴滚动， 将清洁液均匀涂抹于玻璃表面， 同吋通过履带电机驱动高 速旋转洗刷垂直上的顽固污渍。 刮条 43设置在滚刷 41的后侧， 用于刮除垂直面 8 0上的污渍， 以减轻抹布 42的清洗负担， 抹布 42设置在刮条 43的后侧， 对垂直面 80进行最后一道清扫。 通过滚刷 41、 刮条 43以及抹布 42的三道清洗， 可以将垂 直面清洗干净， 达到满意的清洗效果。
[0040] 此外， 可在吸盘支架 31的四周设置刮条， 从而将清洗液阻挡在爬壁组件外， 防 止外部清洁液进入行走履带 33和第一吸盘 32， 避免行走履带 33打滑以及第一吸 盘 32失效。 同吋， 清洗组件还包括设于飞行器主体底部的废水回收孔 44， 以将 清洗过后的清洁液回收， 防止滴漏。
[0041] 为使飞行器主机平稳停靠到垂直面 80， 第二吸盘 21与活动关节之间可设有缓冲 机构， 该缓冲机构包括缓冲杆和套设在该缓冲杆上的缓冲弹簧， 缓冲杆一端固 定连接在第二吸盘 21上、 另一端插接在活动关节上， 缓冲弹簧抵接在活动关节 与第二吸盘 21之间。
[0042] 以上所述， 仅为本发明较佳的具体实施方式， 但本发明的保护范围并不局限于 此， 任何熟悉本技术领域的技术人员在本发明揭露的技术范围内， 可轻易想到 的变化或替换， 都应涵盖在本发明的保护范围之内。 因此， 本发明的保护范围 应该以权利要求的保护范围为准。

Claims

权利要求书
[权利要求 1] 一种可爬壁的飞行清洁装置， 包括飞行器主机， 其特征在于： 该清洁 装置还包括爬壁组件、 启停组件、 清洁组件以及控制模块， 且所述爬 壁组件和清洁组件分别装设到飞行器主机的底部， 所述启停组件装设 在飞行器主机的前侧； 所述爬壁组件包括第一吸盘； 所述启停组件包 括第二吸盘、 活动关节， 且所述第二吸盘通过活动关节装设到飞行器 主机的前端； 所述控制模块包括停靠控制单元和飞离控制单元； 所述 停靠控制单元在飞行器主机停靠到垂直面吋， 首先控制第二吸盘吸附 到垂直面， 并在吸附完成后使飞行器主机绕活动关节旋转直到第一吸 盘吸附到垂直面， 以及使第二吸盘脱离垂直面； 所述飞离控制单元在 飞行器主机飞离垂直面吋， 首先控制第二吸盘吸附到垂直面， 并在吸 附完成后使第一吸盘脱离垂直面， 以及在飞行主体绕活动关节旋转到 水平面后使第二吸盘脱离垂直面。
[权利要求 2] 根据权利要求 1所述的可爬壁的飞行清洁装置， 其特征在于： 所述飞 行器主机上还设有距离传感器， 所述控制模块还包括距离计算单元， 所述距离计算单元用于根据距离传感器的反馈数据计算飞行器主机与 垂直面的距离， 所述停靠控制单元在飞行器主机的前侧与垂直面的距 离小于或等于第一距离吋启动。
[权利要求 3] 根据权利要求 2所述的可爬壁的飞行清洁装置， 其特征在于： 所述飞 行器主机上设有至少两个距离传感器， 且所述控制模块包括偏转角计 算单元以及抵近控制单元， 其中： 所述偏转角计算单元， 用于在飞行 器主机的前侧与垂直面的距离小于第二距离吋， 根据两个距离传感器 输出的距离信息计算飞行器主机与垂直面的夹角； 所述停靠控制单元 ， 用于调整飞行器主机的航向角并在飞行器主机垂直于垂直面吋控制 飞行器主机飞向垂直面， 直到飞行器主机的前侧小于或等于第一距离
[权利要求 4] 根据权利要求 1所述的可爬壁的飞行清洁装置， 其特征在于： 所述爬 壁组件包括至少两个第一吸盘以及用于驱动飞行器主机行走的行走机 构； 所述至少两个第一吸盘沿行走机构前进方向依次排列。
[权利要求 5] 根据权利要求 4所述的可爬壁的飞行清洁装置， 其特征在于： 所述爬 壁组件还包括用于检测第一吸盘内压力的气压传感器； 所述控制模块 包括漏气检测单元、 缝隙判断单元以及跨缝控制单元； 所述漏气检测 单元用于在飞行器主机在垂直面沿预定方向行走过程中， 实吋根据气 压传感器的反馈信号判断前侧的第一吸盘是否漏气； 所述缝隙判断单 元， 用于在前侧的第一吸盘漏气吋计算该前侧的第一吸盘的漏气距离 ， 并在所述漏气距离超过第三距离吋确认缝隙过大； 所述跨缝控制单 元， 用于在缝隙过大吋， 控制所述行走机构转动预定角度后继续前进
[权利要求 6] 根据权利要求 1所述的可爬壁的飞行清洁装置， 其特征在于： 每一所 述第一吸盘和第二吸盘分别设置有泄气阀和气压传感器， 所述停靠控 制单元和飞离控制单元通过泄气阀使对应的第一吸盘或第二吸盘脱离 垂直面， 并根据气压传感器反馈信号判断对应的第一吸盘或第二吸盘 是否吸附完成。
[权利要求 7] 根据权利要求 4所述的可爬壁的飞行清洁装置， 其特征在于： 所述爬 壁组件还包括吸盘支架且该吸盘支架通过折叠机构装配到飞行器主机 的底部， 所述第一吸盘安装到吸盘支架， 所述停靠控制单元在第二吸 盘吸附到垂直面后， 控制折叠机构将吸盘支架打幵以使第一吸盘吸附 到垂直面， 并在第一吸盘吸附完成后使折叠机构将飞行器主机折叠到 吸盘支架； 所述飞离控制单元在第二吸盘吸附到垂直面后， 通过折叠 机构使飞行器主机转到水平后使吸盘支架折叠到飞行器主机底部。
[权利要求 8] 根据权利要求 7所述的可爬壁的飞行清洁装置， 其特征在于： 所述行 走机构包括对称设置在所述吸盘支架上并分别位于第一吸盘两侧的两 条履带， 每条履带通过履带电机驱动独立前进或者后退。
[权利要求 9] 根据权利要求 1所述的可爬壁的飞行清洁装置， 其特征在于： 所述清 洁组件包括滚轴、 滚刷、 刮条以及抹布， 所述滚轴内部设有用于容置 清洗液的内腔， 并且所述滚轴的外表面设有多个与所述内腔连通的渗 水孔； 所述滚刷、 刮条以及抹布依次设在所述滚轴的后侧。
[权利要求 10] 根据权利要求 1所述的可爬壁的飞行清洁装置， 其特征在于： 所述第 二吸盘与活动关节之间设有缓冲机构， 所述缓冲机构包括缓冲杆和套 设在该缓冲杆上的缓冲弹簧， 所述缓冲杆一端固定连接在所述第二吸 盘上、 另一端插接在活动关节上， 所述缓冲弹簧抵接在所述活动关节 与第二吸盘之间。
PCT/CN2016/086625 2016-06-21 2016-06-21 可爬壁的飞行清洁装置 WO2017219256A1 (zh)

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